PixelDense aligns pixel diffusion with frozen dense-prediction teachers via separate semantic and geometric projection streams and orthogonality penalties, improving GenEval to 0.8093 and training speed by 1.23x.
3DSPMR leverages 3D spatial memory with field-of-view geometric priors to reuse exploration knowledge across sequential embodied tasks, significantly improving reasoning and navigation performance on the SEER-Bench benchmark.